Sorting system and workstation

Abstract

The invention relates to the technical field of goods sorting and labeling, and discloses a sorting system and workstations, the sorting system comprises a first moving trolley, a grabbing device, a labeling device, a second moving trolley, a visual identification system and a control center, the first moving trolley is used for transporting goods, the grabbing device is used for grabbing the goods, and the labeling device is used for labeling the goods. The labeling device is used for labeling goods, the second moving trolley is used for transporting the goods with the labels, the visual identification system can obtain feature information of the goods, and the control center is in communication connection with the first moving trolley, the grabbing device, the labeling device, the second moving trolley and the visual identification system. Through cooperation of the first moving trolley, the grabbing device, the labeling device, the second moving trolley, the visual identification system and the control center, sorting and labeling operation of goods are achieved, whole-process automatic control operation is achieved, manual participation is reduced, the labor cost is reduced, it is ensured that the operation precision is consistent, the visual identification system is combined for auxiliary operation, and the working efficiency is improved. And the operation precision and efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo sorting, and in particular to a sorting system and a workstation. Background Art

[0002] At present, goods such as water pipe joints need to be sorted and labeled according to sales orders before shipment. Traditional sorting and labeling operations require manual placement of goods such as water pipe joints on labeling machines, which are then labeled by the labeling machines and then manually stacked. The entire operation process has a high degree of manual participation, resulting in low efficiency, increased labor costs, and it is difficult to ensure consistent accuracy of manual operations. Summary of the invention

[0003] In view of this, the present invention provides a sorting system and a workstation to solve the problem that the existing manual sorting and labeling operations of goods such as water pipe joints result in low efficiency, increased labor costs, and it is difficult to ensure consistent accuracy of manual operations.

[0004] A first aspect of the present invention provides a sorting system, comprising a first mobile trolley, a grabbing device, a labeling device, a second mobile trolley, a visual recognition system and a control center, wherein the first mobile trolley is used to transport goods, the grabbing device is used to grab goods, the labeling device is used to attach labels to goods, the second mobile trolley is used to transport labeled goods, the visual recognition system can obtain characteristic information of goods, and the control center is communicatively connected with the first mobile trolley, the grabbing device, the labeling device, the second mobile trolley and the visual recognition system;

[0005] The first mobile cart transports the goods to the designated location, and the control center controls the grabbing device to grab the goods and place them on the labeling device according to the characteristic information of the goods fed back by the visual recognition system. The control center sends a goods arrival signal to the labeling device, and the labeling device labels the goods. The control center controls the grabbing device to grab the labeled goods and place them on the second mobile cart for palletizing. Based on the visual recognition system recognizing that the goods have been palletized, the control center sends a palletizing completion signal to the second mobile cart, and the second mobile cart transports the labeled goods.

[0006] Beneficial effects: The sorting system of the present application realizes the transportation, sorting and labeling operations of the goods through the cooperation of the first mobile cart, the grabbing device, the labeling device, the second mobile cart, the visual recognition system and the control center. The operation is fully automated, which reduces manual participation, reduces labor costs, and ensures consistent operation accuracy. In addition, combined with the visual recognition system to assist in the operation, the operation accuracy and efficiency can be improved.

[0007] In some embodiments, the labeling device includes a supporting platform and a labeling head, wherein the labeling head is disposed on the supporting platform and is used to attach a label to the goods.

[0008] Beneficial effect: The support platform supports the labeling head. When labeling, the goods are placed on the support platform, and the labeling head moves and sticks to the goods to attach the label to the goods.

[0009] In some embodiments, the labeling device further comprises a first adjusting mechanism disposed on the supporting platform, the first adjusting mechanism is connected to the labeling head, and the first adjusting mechanism can drive the labeling head to move along the height direction of the goods.

[0010] Beneficial effect: By setting up the first adjustment mechanism, the labeling head can be driven to move along the height direction of the goods. When the height of the goods changes, resulting in a change in the height of the labeling position, the first adjustment mechanism can be used to drive the labeling head to move along the height direction of the goods, so that the labeling position of the labeling head and the goods can be kept consistent. Therefore, the setting of the first adjustment mechanism can enable the labeling device to meet the labeling operations of goods of different heights and ensure the accuracy of the labeling operation.

[0011] In some embodiments, the first adjustment mechanism includes a first base, a motor, a first screw and a first connecting portion, the first base is arranged on the supporting platform, the motor is arranged on the first base, the first screw is rotatably arranged on the first base, the first screw extends along the height direction of the goods, the first screw is transmission-connected to the motor, the first connecting portion is threadedly sleeved on the first screw, and the first connecting portion is connected to the labeling head.

[0012] Beneficial effect: When the height of the goods changes, causing the height of the labeling position to change, the motor drives the first screw to rotate around its own axis, and the first screw drives the first connecting part to move along the axial direction of the first screw, thereby driving the labeling head connected to the first connecting part to move along the axial direction of the first screw (consistent with the height direction of the goods), thereby adjusting the height position of the labeling head.

[0013] In some embodiments, the first connecting portion is provided with a first hole, the first adjusting mechanism further comprises a first guide rod, the first guide rod is provided on the first base, the first guide rod extends along the height direction of the cargo, and the first connecting portion is slidably mounted on the first guide rod through the first hole.

[0014] Beneficial effect: The first guide rod is set, and the first connecting part slides along the first guide rod when moving. The first guide rod can provide sliding support for the movement of the first connecting part, ensuring the sliding stability and direction accuracy of the first connecting part.

[0015] In some embodiments, the labeling device further includes a second adjusting mechanism disposed on the supporting platform, the second adjusting mechanism is connected to the first adjusting mechanism, and the second adjusting mechanism can drive the first adjusting mechanism to move along the width direction of the goods.

[0016] Beneficial effect: Through the second adjusting mechanism, the first adjusting mechanism can be driven to move in the height direction of the goods, thereby driving the labeling head connected to the first adjusting mechanism to move in the height direction of the goods. When the width of the goods changes and the labeling position changes in the width direction, the second adjusting mechanism can be used to drive the first adjusting mechanism and the labeling head to move and adjust in the height direction of the goods, so that the labeling position of the labeling head and the goods are kept consistent. Therefore, the setting of the second adjusting mechanism can enable the labeling device to meet the labeling operations of goods of different widths and ensure the accuracy of labeling operations.

[0017] In some embodiments, the second adjustment mechanism includes a second base, a second screw and a second connecting portion, the second base is arranged on the supporting platform, the second screw extends along the width direction of the cargo, the second screw is arranged on the second base, the second screw can rotate around its own axis, the second connecting portion is threadedly sleeved on the second screw, and the second connecting portion is connected to the first adjustment mechanism.

[0018] Beneficial effect: When the width of the goods changes and causes the labeling position to change in the width direction, the second screw rotates around its own axis, and the second screw drives the second connecting part to move along the axial direction of the second screw, thereby driving the first adjustment mechanism connected to the second connecting part and the labeling head thereon to move along the axial direction of the second screw (consistent with the width direction of the goods), thereby adjusting the width direction position of the labeling head.

[0019] In some embodiments, the second connecting portion is provided with a second hole, and the second adjusting mechanism further includes a second guide rod, which is provided on the second base and extends along the width direction of the cargo, and the second connecting portion is slidably mounted on the second guide rod through the second hole; and / or, the second adjusting mechanism further includes an operating portion, which is connected to the second screw, and the second screw can be driven to rotate along its own axis by operating the operating portion.

[0020] Beneficial effect: A second guide rod is set, and the second connecting part slides along the second guide rod when it moves. The second guide rod can provide sliding support for the movement of the second connecting part, thereby ensuring the sliding smoothness and directional accuracy of the second connecting part. An operating part is set, and by operating the operating part, the second lead screw can be driven to rotate along its own axis, thereby driving the second connecting part and the first adjusting mechanism and the labeling head to move along the axial direction of the second lead screw, thereby realizing the adjustment of the position of the labeling head.

[0021] In some embodiments, the grasping device includes a grasping robot and a suction cup, the grasping robot has a main shaft, the suction cup is connected to the main shaft, and the suction cup is used to absorb and fix the cargo.

[0022] Beneficial effect: The grasping robot is used to drive the suction cup to approach the goods. After the suction cup absorbs and fixes the goods, the grasping robot drives the suction cup and the goods to move together for transportation, so that the goods can be moved to the labeling device for labeling, and can also drive the goods to the second mobile cart for stacking.

[0023] A second aspect of the present invention provides a workstation, comprising a work area and the sorting system of the present invention, wherein the sorting system is arranged in the work area.

[0024] Beneficial effect: Since the workstation of the present application includes the sorting system of the present application, it has the same technical effect as the sorting system, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic structural diagram of a sorting system according to an embodiment of the present invention is shown;

[0027] Figure 2 A schematic diagram showing the structure of a grabbing device according to an embodiment of the present invention is shown;

[0028] Figure 3 A front view of a suction cup according to one embodiment of the present invention is shown;

[0029] Figure 4 A side view of a suction cup according to one embodiment of the present invention is shown;

[0030] Figure 5 A side view of a suction cup according to another embodiment of the present invention is shown;

[0031] Figure 6 A front view of a labeling device according to an embodiment of the present invention is shown;

[0032] Figure 7 A top view of a labeling device according to an embodiment of the present invention is shown.

[0033] Description of reference numerals:

[0034] 1. The first mobile car;

[0035] 2. Grasping device; 21. Grasping robot; 22. Suction cup; 221. Adsorption seat; 222. Vacuum suction tube;

[0036] 3. Labeling device; 31. Support platform; 32. Labeling head; 33. First adjustment mechanism; 331. First base; 332. Motor; 333. First lead screw; 334. First connecting part; 335. First guide rod; 34. Second adjustment mechanism; 341. Second base; 342. Second lead screw; 343. Second connecting part; 344. Second guide rod; 345. Operating part;

[0037] 4. Second mobile trolley;

[0038] 100. Goods. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] Combine the following Figures 1 to 7 , describing an embodiment of the present invention.

[0044] like Figure 1 As shown, according to an embodiment of the present invention, on the one hand, a sorting system is disclosed, including a first mobile cart 1, a gripping device 2, a labeling device 3, a second mobile cart 4, a visual recognition system and a control center, wherein the first mobile cart 1 is used to transport goods 100, the gripping device 2 is used to grip the goods 100, the labeling device 3 is used to attach labels to the goods 100, the second mobile cart 4 is used to transport the labeled goods 100, the visual recognition system can obtain characteristic information of the goods 100, and the control center is communicatively connected with the first mobile cart 1, the gripping device 2, the labeling device 3, the second mobile cart 4 and the visual recognition system;

[0045] The first mobile cart 1 transports the goods 100 to the designated location. The control center controls the grabbing device 2 to grab the goods 100 and place them on the labeling device 3 based on the feature information of the goods 100 fed back by the visual recognition system. The control center sends a signal that the goods 100 are in place to the labeling device 3. The labeling device 3 attaches the label to the goods 100. The control center controls the grabbing device 2 to grab the labeled goods 100 and place them on the second mobile cart 4 for palletizing. Based on the visual recognition system recognizing that the goods 100 have been palletized, the control center sends a palletizing completion signal to the second mobile cart 4. The second mobile cart 4 transports the labeled goods 100.

[0046] The sorting system of the present application realizes the transportation, sorting and labeling operations of the goods 100 through the cooperation of the first mobile cart 1, the gripping device 2, the labeling device 3, the second mobile cart 4, the visual recognition system and the control center. The operation is fully automated and controlled, which reduces manual participation, reduces labor costs, and ensures consistent operation accuracy. In addition, combined with the auxiliary operation of the visual recognition system, the operation accuracy and efficiency can be improved.

[0047] It should be noted that the cargo 100 may be a water pipe joint, which is packaged and transported to the work area by the first mobile trolley 1, where it is labeled and stacked, and then transported out of the work area by the second mobile trolley 4 and transferred to the vertical warehouse for storage. However, this is not limited to this, and the cargo 100 may also be changed according to production needs, and is not limited to this embodiment.

[0048] The first mobile cart 1 and the second mobile cart 4 may specifically be intelligent transport robots, Automated Guided Vehicle, or AGV for short, which can realize unmanned automatic transport.

[0049] like Figure 2 As shown, in some embodiments, the grasping device 2 includes a grasping robot 21 and a suction cup 22 , wherein the grasping robot 21 has a main shaft, the suction cup 22 is connected to the main shaft, and the suction cup 22 is used to absorb and fix the cargo 100 .

[0050] The grasping robot 21 is used to drive the suction cup 22 to approach the goods 100. After the suction cup 22 absorbs and fixes the goods 100, the grasping robot 21 drives the suction cup 22 and the goods 100 to move and transport together, so that the goods 100 can be moved to the labeling device 3 for labeling, and can also drive the goods 100 to the second mobile cart 4 for stacking.

[0051] Exemplarily, the grasping robot 21 can be a four-axis robot, which has a certain degree of flexibility. Specifically, the first two joints of the four-axis robot can rotate freely left and right in the horizontal plane, and the third joint is composed of a metal rod and a clamp. The metal rod can move up and down in the vertical plane or rotate around its vertical axis. This unique design makes the four-axis robot very rigid, enabling the four-axis robot to perform high-speed and high-repeatability tasks and meet the needs of rapid pick-up and placement of goods 100.

[0052] However, the grasping robot 21 is not limited to a four-axis robot. For example, in other embodiments, the grasping robot 21 may also be a six-axis robot. Compared with a four-axis robot, a six-axis robot has two more joints and therefore has more "freedom of movement".

[0053] Specifically, the first joint of the six-axis robot can rotate freely in the horizontal plane like a four-axis robot, and the last two joints can move in the vertical plane. In addition, the six-axis robot has an "arm" and two "wrist" joints, which gives the six-axis robot similar capabilities to human arms and wrists, giving the six-axis robot higher production movement flexibility.

[0054] Therefore, the configuration of the grasping robot 21 can be selected as needed, and this embodiment does not impose any limitation thereto.

[0055] The suction cup 22 includes a suction seat 221 and a vacuum suction pipe 222 , wherein the suction seat 221 is connected to the main shaft, and the vacuum suction pipe 222 is disposed on the suction seat 221 .

[0056] When the vacuum suction tube 222 contacts the cargo 100, the suction seat 221 and the vacuum suction tube 222 generate a vacuum due to the negative pressure, and the vacuum suction tube 222 fixes the cargo 100 due to the negative pressure, thereby fixing the cargo 100 and facilitating the grabbing robot 21 to move and transport the cargo 100.

[0057] In order to achieve the adsorption stability of the goods 100, a plurality of vacuum tubes 222 can be provided. The plurality of vacuum tubes 222 are arranged in an array along the adsorption seat 221. The goods 100 can be adsorbed and fixed simultaneously by the plurality of vacuum tubes 222, thereby ensuring that the goods 100 are stable and will not loosen during the movement and transportation process.

[0058] In terms of specific quantity, Figure 3 and Figure 4 As shown, the number of vacuum suction tubes 222 can be 20, and the 20 vacuum suction tubes 222 are arranged in five rows and four columns on the adsorption seat 221.

[0059] Or, if Figure 5 As shown, the number of vacuum suction tubes 222 can be 16, and the 16 vacuum suction tubes 222 are arranged in four rows and four columns on the adsorption seat 221.

[0060] As for the material, the suction cup 22 can be made of polyurethane. The suction cup 22 made of polyurethane also has a good adsorption effect on the goods 100 with a smooth surface, and can increase the adsorption stability of the goods 100.

[0061] In terms of size, the diameter of the suction cup 22 can be designed according to the weight and size of the cargo 100 to ensure that the suction cup 22 can provide sufficient adsorption force to the cargo 100. The design is based on actual needs and is not limited in this embodiment.

[0062] In some embodiments, the labeling device 3 includes a supporting platform 31 and a labeling head 32 , wherein the labeling head 32 is disposed on the supporting platform 31 , and the labeling head 32 is used to attach a label to the goods 100 .

[0063] The support platform 31 supports the labeling head 32 . During labeling, the goods 100 are placed on the support platform 31 , and the labeling head 32 moves and is pressed against the goods 100 , so that the label is attached to the goods 100 .

[0064] like Figure 6 and Figure 7As shown, in some embodiments, the labeling device 3 also includes a first adjustment mechanism 33 arranged on the supporting platform 31, the first adjustment mechanism 33 is connected to the labeling head 32, and the first adjustment mechanism 33 can drive the labeling head 32 to move along the height direction of the goods 100.

[0065] By setting up the first adjustment mechanism 33, the labeling head 32 can be driven to move along the height direction of the goods 100. When the height of the goods 100 changes, resulting in a change in the height of the labeling position, the first adjustment mechanism 33 can be used to drive the labeling head 32 to move along the height direction of the goods 100, so that the labeling position of the labeling head 32 and the goods 100 can be kept consistent. Therefore, the setting of the first adjustment mechanism 33 can enable the labeling device 3 to meet the labeling operation of goods 100 of different heights, thereby ensuring the accuracy of the labeling operation.

[0066] Specifically, when the height of the goods 100 increases, the first adjustment mechanism 33 drives the labeling head 32 to move upward along the height direction of the goods 100 , and when the height of the goods 100 decreases, the first adjustment mechanism 33 drives the labeling head 32 to move downward along the height direction of the goods 100 .

[0067] In some embodiments, the first adjustment mechanism 33 includes a first base 331, a motor 332, a first screw 333 and a first connecting part 334, wherein the first base 331 is arranged on the supporting platform 31, the motor 332 is arranged on the first base 331, the first screw 333 is rotatably arranged on the first base 331, the first screw 333 extends along the height direction of the cargo 100, the first screw 333 and the motor 332 are transmission-connected, the first connecting part 334 is threadedly sleeved on the first screw 333, and the first connecting part 334 is connected to the labeling head 32.

[0068] When the height of the goods 100 changes, causing the height of the labeling position to change, the motor 332 drives the first screw 333 to rotate around its own axis, and the first screw 333 drives the first connecting part 334 to move along the axial direction of the first screw 333, thereby driving the labeling head 32 connected to the first connecting part 334 to move along the axial direction of the first screw 333 (consistent with the height direction of the goods 100), thereby adjusting the height position of the labeling head 32.

[0069] In some embodiments, the first connecting portion 334 is provided with a first hole, and the first adjusting mechanism 33 also includes a first guide rod 335, which is provided on the first base 331, and the first guide rod 335 extends along the height direction of the cargo 100, and the first connecting portion 334 is slidably mounted on the first guide rod 335 through the first hole.

[0070] A first guide rod 335 is provided, and the first connecting part 334 slides along the first guide rod 335 when moving. The first guide rod 335 can provide sliding support for the movement of the first connecting part 334 to ensure the sliding stability and direction accuracy of the first connecting part 334.

[0071] Two first bases 331 are provided, and the two first bases 331 are respectively disposed at the upper and lower ends of the first lead screw 333 and the first guide rod 335 to stably support the two ends of the first lead screw 333 and the first guide rod 335 .

[0072] The motor 332 is fixedly mounted on the first base 331 at the upper end. The motor 332 is a forward / reverse motor 332. The forward / reverse rotation of the motor 332 can drive the first screw 333 to rotate forward / reverse, thereby driving the first connecting part 334 and the labeling head 32 to move back and forth along the axial direction of the first screw 333, thereby realizing the upward or downward adjustment of the labeling head 32.

[0073] Both ends of the first lead screw 333 can be rotatably disposed on the first base 331 via a bearing seat to reduce the rotational friction between the first lead screw 333 and the first base 331 .

[0074] It is understandable that the length of the first screw 333 limits the adjustment range of the labeling head 32 along the height direction of the goods 100 , and thus the adjustment range of the labeling head 32 along the height direction of the goods 100 can be controlled by designing the length of the first screw 333 .

[0075] The first guide rod 335 and the first lead screw 333 are arranged with the same length, and a plurality of first guide rods 335 may be provided, and the plurality of first guide rods 335 are arranged at intervals along the circumference of the first lead screw 333 to provide stable support for the first connecting portion 334. For example, three, four, etc. first guide rods 335 may be provided.

[0076] In some embodiments, the labeling device 3 further includes a second adjustment mechanism 34 disposed on the supporting platform 31 , the second adjustment mechanism 34 is connected to the first adjustment mechanism 33 , and the second adjustment mechanism 34 can drive the first adjustment mechanism 33 to move along the width direction of the cargo 100 .

[0077] By means of the second adjusting mechanism 34, the first adjusting mechanism 33 can be driven to move in the height direction of the goods 100, thereby driving the labeling head 32 connected to the first adjusting mechanism 33 to move in the height direction of the goods 100. When the width of the goods 100 changes, resulting in a change in the labeling position along the width direction, the second adjusting mechanism 34 can be used to drive the first adjusting mechanism 33 and the labeling head 32 to move and adjust in the height direction of the goods 100, thereby keeping the labeling positions of the labeling head 32 and the goods 100 consistent. Therefore, the setting of the second adjusting mechanism 34 enables the labeling device 3 to meet the labeling operation of goods 100 of different widths, thereby ensuring the accuracy of the labeling operation.

[0078] Specifically, when the width of the goods 100 increases, the second adjusting mechanism 34 drives the first adjusting mechanism 33 and the labeling head 32 to move as a whole along the width direction of the goods 100 in a direction away from the goods 100; when the width of the goods 100 decreases, the second adjusting mechanism 34 drives the first adjusting mechanism 33 and the labeling head 32 to move as a whole along the width direction of the goods 100 in a direction close to the goods 100.

[0079] In some embodiments, the second adjusting mechanism 34 includes a second base 341, a second screw 342 and a second connecting portion 343, wherein the second base 341 is arranged on the supporting platform 31, the second screw 342 extends along the width direction of the cargo 100, the second screw 342 is arranged on the second base 341, the second screw 342 can rotate around its own axis, the second connecting portion 343 is threadedly sleeved on the second screw 342, and the second connecting portion 343 is connected to the first adjusting mechanism 33.

[0080] When the width of the cargo 100 changes, causing the labeling position to change in the width direction, the second screw 342 rotates around its own axis, and the second screw 342 drives the second connecting part 343 to move along the axial direction of the second screw 342, thereby driving the first adjustment mechanism 33 connected to the second connecting part 343 and the labeling head 32 thereon to move along the axial direction of the second screw 342 (consistent with the width direction of the cargo 100), thereby adjusting the width direction position of the labeling head 32.

[0081] The second connecting part 343 is fixedly connected to the first base 331. When the second connecting part 343 moves along the axial direction of the second screw 342 (consistent with the width direction of the cargo 100), the first base 331 and the first screw 333, the first guide rod 335, the first connecting part 334 and the labeling head 32 thereon are driven to move together along the axial direction of the second screw 342.

[0082] In some embodiments, the second connecting portion 343 is provided with a second hole, and the second adjusting mechanism 34 also includes a second guide rod 344, which is provided on the second base 341, and the second guide rod 344 extends along the width direction of the cargo 100, and the second connecting portion 343 is slidably mounted on the second guide rod 344 through the second hole.

[0083] A second guide rod 344 is provided, and the second connecting part 343 slides along the second guide rod 344 when moving. The second guide rod 344 can provide sliding support for the movement of the second connecting part 343 to ensure the sliding stability and direction accuracy of the second connecting part 343.

[0084] Specifically, two second guide rods 344 are provided, and the two second guide rods 344 are respectively provided on both sides of the second lead screw 342 to achieve stable support for both sides of the second connecting portion 343 .

[0085] In some embodiments, the second adjustment mechanism 34 further includes a manipulation portion 345 , which is connected to the second lead screw 342 , and the second lead screw 342 can be driven to rotate along its own axis by operating the manipulation portion 345 .

[0086] The operating part 345 is set up, and by operating the operating part 345, the second screw 342 can be driven to rotate along its own axis, thereby driving the second connecting part 343 and the first adjustment mechanism 33, and the labeling head 32 to move along the axial direction of the second screw 342, thereby adjusting the position of the labeling head 32.

[0087] Two second bases 341 are provided, and the two second bases 341 are respectively disposed at the left and right ends of the second lead screw 342 and the second guide rod 344 to stably support the two ends of the second lead screw 342 and the second guide rod 344 .

[0088] Both ends of the second lead screw 342 can be rotatably disposed on the second base 341 via a bearing seat to reduce the rotational friction between the second lead screw 342 and the second base 341 .

[0089] It is understandable that the length of the second screw 342 limits the adjustment range of the labeling head 32 along the width direction of the goods 100 , so the adjustment range of the labeling head 32 along the width direction of the goods 100 can be controlled by designing the length of the second screw 342 .

[0090] The operating part 345 is fixedly connected to the second screw 342. By operating the operating part 345 to rotate forward / reverse, the second screw 342 can be driven to rotate forward / reverse, thereby driving the second connecting part 343, the first adjustment mechanism 33 and the labeling head 32 to move back and forth along the axial direction of the second screw 342 as a whole, thereby adjusting the labeling head 32 along the width direction of the goods 100.

[0091] The visual recognition system can obtain characteristic information of the goods 100 to control the gripping device 2 and the labeling device 3 to achieve precise operation and improve operation accuracy.

[0092] The characteristic information of the goods 100 includes the shape, size, and location of the label of the goods 100 .

[0093] Specifically, the visual recognition system has the functions of picture acquisition, video acquisition and image preprocessing, and can analyze the collected information such as the shape, size, label position and so on of the goods 100 to determine the weight, grabbing position, labeling position and stacking method of the goods 100, and then feed back to the control center. The control center controls the grabbing device 2 and the labeling device 3 to achieve precise operation.

[0094] The labeling machine can adjust the position of the labeling head 32 through the arrangement of the first adjustment mechanism 33 and the second adjustment mechanism 34, thereby ensuring that the labeling accuracy of the goods 100 is controlled within ±0.5 mm.

[0095] According to an embodiment of the present invention, on the other hand, a workstation is disclosed, including a work area and the sorting system of the present application, wherein the sorting system is arranged in the work area.

[0096] Since the workstation of the present application includes the sorting system of the present application, it has the same technical effect as the sorting system, which will not be repeated here.

[0097] In order to facilitate the understanding of the sorting system and workstation of this embodiment, the following is a Figure 1 To Attachment Figure 7 , the working process of the sorting system and workstation is introduced as follows:

[0098] The first mobile vehicle 1 transports the packaged goods 100 to the work area;

[0099] The visual recognition system obtains the position and shape information of the goods 100 and feeds it back to the control center. The control center controls the grabbing robot 21 to make the suction cup 22 absorb and fix the goods 100 and carry the goods 100 to the labeling device 3 according to the information fed back by the visual recognition system.

[0100] The control center sends a signal indicating that the goods 100 have arrived to the labeling device 3, and the labeling device 3 is activated to attach the label to the goods 100 using the labeling head 32;

[0101] The control center controls the grabbing robot 21 to make the suction cup 22 absorb and fix the labeled goods 100 and carry them to the second mobile cart 4 for palletizing. The visual recognition system monitors the palletizing operation. When the visual recognition system recognizes that the goods 100 have been palletized, the control center sends a palletizing completion signal to the second mobile cart 4, and the second mobile cart 4 drives the labeled goods 100 out of the working area.

[0102] When the visual recognition system recognizes that the height of the goods 100 has changed, the motor 332 drives the first lead screw 333 to rotate around its own axis, and the first lead screw 333 drives the first connecting part 334 to move along the axial direction of the first lead screw 333, thereby driving the labeling head 32 connected to the first connecting part 334 to move along the axial direction of the first lead screw 333 (consistent with the height direction of the goods 100), thereby realizing the position adjustment of the labeling head 32 along the height direction of the goods 100;

[0103] When the visual recognition system recognizes that the width of the cargo 100 has changed, the operating part 345 drives the second screw 342 to rotate along its own axis, thereby driving the second connecting part 343 and the first adjustment mechanism 33 and the labeling head 32 to move along the axial direction of the second screw 342, thereby achieving the position adjustment of the labeling head 32 along the width direction of the cargo 100.

[0104] It should be noted that if Figure 6 As shown, the height direction of the cargo 100 is consistent with the direction indicated by arrow a. Figure 7 As shown, the width direction of the cargo 100 is consistent with the direction indicated by arrow b.

[0105] The description of the shape, position, quantity and other related parameters of the structure in this embodiment is merely the optimal setting method and is not to be construed as a limitation on the scope of protection of the present application. Those skilled in the art may adjust the shape, position, quantity and other related parameters of the above-mentioned structure according to actual needs.

[0106] In other embodiments, the operating part 345 may not be provided, and a driving motor 332 and the second lead screw 342 may be provided in transmission connection, which can also achieve the purpose of driving the second lead screw 342 to rotate.

[0107] In other embodiments, the first adjustment mechanism 33 may also be configured as a linear cylinder or a gear chain coordinated mechanism to drive the labeling head 32 to move and adjust along the height direction of the cargo 100 .

[0108] In other embodiments, the second adjustment mechanism 34 may also be configured as a linear cylinder or a gear chain coordinated mechanism to drive the labeling head 32 to move and adjust along the width direction of the cargo 100 .

[0109] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present application.

Claims

1. A sorting system, characterized in that: include: A first mobile vehicle (1) for transporting goods (100); A grabbing device (2) for grabbing goods (100); A labeling device (3), used for attaching a label to the goods (100); A second mobile vehicle (4) for transporting labeled goods (100); A visual recognition system capable of acquiring characteristic information of the goods (100); A control center is communicatively connected with the first mobile vehicle (1), the gripping device (2), the labeling device (3), the second mobile vehicle (4) and the visual recognition system; The first mobile cart (1) transports the goods (100) to a certain location. The control center controls the grasping device (2) to grasp the goods (100) and place them on the labeling device (3) based on the characteristic information of the goods (100) fed back by the visual recognition system. The control center sends a signal indicating that the goods (100) are in place to the labeling device (3). The labeling device (3) affixes a label to the goods (100). The control center controls the grasping device (2) to grasp the labeled goods (100) and place them on the second mobile cart (4) for palletizing. Based on the visual recognition system recognizing that the goods (100) have been palletized, the control center sends a palletizing completion signal to the second mobile cart (4). The second mobile cart (4) transports the labeled goods (100).

2. The sorting system according to claim 1, characterized in that: The labeling device (3) comprises: Support platform (31); A labeling head (32) is arranged on the supporting platform (31), and the labeling head (32) is used to attach a label to the goods (100).

3. The sorting system according to claim 2, characterized in that: The labeling device (3) further comprises a first adjusting mechanism (33) arranged on the supporting platform (31), the first adjusting mechanism (33) being connected to the labeling head (32), and the first adjusting mechanism (33) being capable of driving the labeling head (32) to move along the height direction of the goods (100).

4. The sorting system according to claim 3, characterized in that: The first adjustment mechanism (33) comprises: A first base (331), disposed on the supporting platform (31); A motor (332) is disposed on the first base (331); a first screw (333) rotatably disposed on the first base (331), the first screw (333) extending in a height direction of the cargo (100), and the first screw (333) being transmission-connected to the motor (332); The first connecting portion (334) is threadedly sleeved on the first lead screw (333), and the first connecting portion (334) is connected to the labeling head (32).

5. The sorting system according to claim 4, characterized in that: The first connecting portion (334) is provided with a first hole, and the first adjusting mechanism (33) further comprises: The first guide rod (335) is arranged on the first base (331), and the first guide rod (335) extends along the height direction of the goods (100). The first connecting portion (334) is slidably mounted on the first guide rod (335) through the first hole.

6. The sorting system according to any one of claims 3 to 5, characterized in that: The labeling device (3) further comprises a second adjusting mechanism (34) arranged on the supporting platform (31), the second adjusting mechanism (34) being connected to the first adjusting mechanism (33), and the second adjusting mechanism (34) being capable of driving the first adjusting mechanism (33) to move along the width direction of the goods (100).

7. The sorting system according to claim 6, characterized in that: The second adjustment mechanism (34) comprises: A second base (341) is disposed on the supporting platform (31); A second screw (342) extending along the width direction of the cargo (100), the second screw (342) being disposed on the second base (341), and the second screw (342) being capable of rotating around its own axis; The second connecting portion (343) is threadedly sleeved on the second lead screw (342), and the second connecting portion (343) is connected to the first adjusting mechanism (33).

8. The sorting system according to claim 7, characterized in that: The second connecting portion (343) is provided with a second hole, and the second adjusting mechanism (34) further comprises: A second guide rod (344) is disposed on the second base (341), the second guide rod (344) extends along the width direction of the goods (100), and the second connecting portion (343) is slidably sleeved on the second guide rod (344) through the second hole; And / or, the second adjustment mechanism (34) further includes an operating part (345), wherein the operating part (345) is connected to the second lead screw (342), and the second lead screw (342) can be driven to rotate along its own axis by operating the operating part (345).

9. The sorting system according to any one of claims 1 to 5, characterized in that: The gripping device (2) comprises: A grasping robot (21) having a main axis; A suction cup (22) is connected to the main shaft, and the suction cup (22) is used to absorb and fix the cargo (100).

10. A workstation, characterized in that: include: Work area; The sorting system according to any one of claims 1 to 9, wherein the sorting system is arranged in the working area.

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